python/demos/command_gui.ipynb

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    "# コマンド送信GUI\n",
    "\n",
    "ipywidgets のインストールを行うコマンドが入っています。一度実行した後はこの処理はスキップ可能です。初回インストール後にkernelの再起動とJupyterLabのブラウザページのリロードが必要です。"
   ]
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   "source": [
    "import asyncio\n",
    "\n",
    "import ipywidgets as widgets\n",
    "import kachaka_api\n",
    "\n",
    "client = kachaka_api.aio.KachakaApiClient()\n",
    "\n",
    "# Build UI\n",
    "\n",
    "NAMES = [\n",
    "    \"MoveShelf\",\n",
    "    \"ReturnShelf\",\n",
    "    \"UndockShelf\",\n",
    "    \"MoveToLocation\",\n",
    "    \"ReturnHome\",\n",
    "    \"DockShelf\",\n",
    "    \"Speak\",\n",
    "    \"MoveToPose\",\n",
    "]\n",
    "command_type_radio = widgets.RadioButtons(\n",
    "    options=NAMES,\n",
    "    layout={\"width\": \"max-content\"},\n",
    "    description=\"Command Type\",\n",
    ")\n",
    "cancel_all_checkbox = widgets.Checkbox(description=\"Cancel All\")\n",
    "tts_on_success_text = widgets.Text(placeholder=\"成功時に喋るフレーズ\")\n",
    "title_text = widgets.Text(placeholder=\"タイトル\")\n",
    "shelf_picker = widgets.Dropdown(description=\"Shelf:\")\n",
    "location_picker = widgets.Dropdown(description=\"Location:\")\n",
    "speak_text = widgets.Text(placeholder=\"喋るフレーズ\")\n",
    "move_to_pose_x = widgets.FloatText(description=\"X:\", step=0.1)\n",
    "move_to_pose_y = widgets.FloatText(description=\"Y:\", step=0.1)\n",
    "move_to_pose_yaw = widgets.FloatText(description=\"Yaw:\", step=0.1)\n",
    "no_option_label = widgets.Label(\"オプションなし\")\n",
    "options_stack = widgets.Stack(\n",
    "    [\n",
    "        widgets.VBox([widgets.Label(\"MoveShelf\"), shelf_picker, location_picker]),\n",
    "        widgets.VBox([widgets.Label(\"ReturnShelf\"), shelf_picker]),\n",
    "        widgets.VBox([widgets.Label(\"UndockShelf\"), no_option_label]),\n",
    "        widgets.VBox([widgets.Label(\"MoveToLocation\"), location_picker]),\n",
    "        widgets.VBox([widgets.Label(\"ReturnHome\"), no_option_label]),\n",
    "        widgets.VBox([widgets.Label(\"DockShelf\"), no_option_label]),\n",
    "        widgets.VBox([widgets.Label(\"Speak\"), speak_text]),\n",
    "        widgets.VBox(\n",
    "            [\n",
    "                widgets.Label(\"MoveToPose\"),\n",
    "                move_to_pose_x,\n",
    "                move_to_pose_y,\n",
    "                move_to_pose_yaw,\n",
    "            ]\n",
    "        ),\n",
    "    ],\n",
    "    selected_index=0,\n",
    ")\n",
    "send_button = widgets.Button(description=\"Send\")\n",
    "ui = widgets.HBox(\n",
    "    [\n",
    "        widgets.VBox(\n",
    "            [\n",
    "                title_text,\n",
    "                tts_on_success_text,\n",
    "                cancel_all_checkbox,\n",
    "                send_button,\n",
    "            ]\n",
    "        ),\n",
    "        command_type_radio,\n",
    "        options_stack,\n",
    "    ]\n",
    ")\n",
    "\n",
    "# Setup event handlers\n",
    "\n",
    "\n",
    "def on_radio_change(evt):\n",
    "    options_stack.selected_index = command_type_radio.options.index(evt.new)\n",
    "\n",
    "\n",
    "command_type_radio.observe(on_radio_change, names=\"value\")\n",
    "\n",
    "\n",
    "async def on_send():\n",
    "    cancel_all = cancel_all_checkbox.value\n",
    "    tts_on_success = tts_on_success_text.value\n",
    "    title = title_text.value\n",
    "    if command_type_radio.value == \"MoveShelf\":\n",
    "        await client.move_shelf(\n",
    "            shelf_picker.value,\n",
    "            location_picker.value,\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "    elif command_type_radio.value == \"ReturnShelf\":\n",
    "        await client.return_shelf(\n",
    "            shelf_picker.value,\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "    elif command_type_radio.value == \"UndockShelf\":\n",
    "        await client.undock_shelf(\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "    elif command_type_radio.value == \"MoveToLocation\":\n",
    "        await client.move_to_location(\n",
    "            location_picker.value,\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "    elif command_type_radio.value == \"ReturnHome\":\n",
    "        await client.return_home(\n",
    "            cancel_all=cancel_all, tts_on_success=tts_on_success, title=title\n",
    "        )\n",
    "    elif command_type_radio.value == \"DockShelf\":\n",
    "        await client.dock_shelf(\n",
    "            cancel_all=cancel_all, tts_on_success=tts_on_success, title=title\n",
    "        )\n",
    "    elif command_type_radio.value == \"Speak\":\n",
    "        await client.speak(\n",
    "            speak_text.value,\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "    elif command_type_radio.value == \"MoveToPose\":\n",
    "        await client.move_to_pose(\n",
    "            move_to_pose_x.value,\n",
    "            move_to_pose_y.value,\n",
    "            move_to_pose_yaw.value,\n",
    "            cancel_all=cancel_all,\n",
    "            tts_on_success=tts_on_success,\n",
    "            title=title,\n",
    "        )\n",
    "\n",
    "\n",
    "async def on_shelves_update(shelves) -> None:\n",
    "    shelf_picker.options = {f\"{s.name} ({s.id})\": s.id for s in shelves}\n",
    "\n",
    "\n",
    "async def on_locations_update(locations) -> None:\n",
    "    location_picker.options = {f\"{l.name} ({l.id})\": l.id for l in locations}\n",
    "\n",
    "\n",
    "client.set_shelves_callback(on_shelves_update)\n",
    "client.set_locations_callback(on_locations_update)\n",
    "\n",
    "send_button.on_click(lambda _: asyncio.create_task(on_send()))\n",
    "\n",
    "# Show UI\n",
    "\n",
    "ui"
   ]
  }
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